
#include<iostream>//

//#include<pcl/io/io.h>
//#include<pcl/io/pcd_io.h>//
//#include<pcl/registration/icp.h>
//#include <pcl/filters/voxel_grid.h>
//#include<pcl/visualization/pcl_visualizer.h>

//#include "ParticleFilter.h"
#include "Test.h"
#include "PF_LocationApplication.h"

using namespace std;
//using namespace pcl;
//typedef pcl::PointXYZ PointIoType;
#define PARTICLE_COUNT 10

void executeKdtreeLineTest() {
	Test mTest;
	mTest.groundTruthGrabberTest();
}

void executeMultinomalResampleTest() {
	Test mTest;
	mTest.mInitPara.particle_count = PARTICLE_COUNT;
	//mTest.particleDataInit();
	mTest.MultinomialResampleTest();
}

void executeActionGrabberTest() {
	Test mTest;
	mTest.actionGrabberTest();
}

void executeActionAddtionDisturbance() {
	Test mTest;
	mTest.actionAdditionDisturbanceTest();
}


int main(int argc, char** argv) 
{
		//executeActionAddtionDisturbance();	
		PF_LocationApplication app;
		app.appInit();
		app.appRun();
		system("pause");
		return 0;
}





